void SetParamers()
{
  EEPROM.put(0, 160);
  EEPROM.put(4, osp);
  EEPROM.put(8, dl);
  EEPROM.put(12, sc);
  EEPROM.put(16, kp);
  EEPROM.put(20, ki);
  EEPROM.put(24, kd);
  EEPROM.put(28, sp);
  EEPROM.put(32, si);
  EEPROM.put(36, sd);
  EEPROM.put(40, ds);
  EEPROM.put(44, dt);
}

void GetParamers()
{
  unsigned char CF;
  EEPROM.get(0, CF);
  if (CF == 160)
  {
    EEPROM.get(4, osp);
    EEPROM.get(8, dl);
    EEPROM.get(12, sc);
    EEPROM.get(16, kp);
    EEPROM.get(20, ki);
    EEPROM.get(24, kd);
    EEPROM.get(28, sp);
    EEPROM.get(32, si);
    EEPROM.get(36, sd);
    EEPROM.get(40, ds);
    EEPROM.get(44, dt);
  }
  else
  {
    osp = 10;
    dl = 0;
    sc = 30000;
    kp = 9.8;    ki = 225;    kd = 0.18;
    sp = 0.8;    si = 0;    sd = 0.22;
    ds = 5;    dt = 3;
    SetParamers();
  }
}
